A kind of robot palletizer control system and its implementationTechnical field
The present invention relates to robot palletizer field, particularly to a kind of robot palletizer control system and its implementation.
Background technology
Along with the application of robotics generalizes and the arriving of manufacturing industry robot substitution spring tide, owing to robot is onePlant flexibility equipment, adapt to the application scenario of multiple environment.Robot has become as a subject, and is not that one setsStandby.In particular for robot palletizer, substitute the highly intensive labour of workman, imperative.But current domestic robot palletizerProficiency is uneven in application, understands robot palletizer programming language not, needs using robot palletizer whenThere is certain study could control robot palletizer the programming language controlling robot palletizer to operate, but carrying out againDuring miscellaneous work, it is impossible to ensure that robot palletizer carries out the correctness of the programming language of automation mechanized operation, the most therefore produce dangerDanger.
Summary of the invention
The technical problem to be solved is to provide a kind of robot palletizer control system so that common stacking machineDevice people applies personnel can rapidly and efficiently utilize robot palletizer, reduces complicated application personnel's programming to robot palletizer,Reduce the use difficulty of robot palletizer, improve the safety coefficient of robot palletizer.
The technical scheme is that the realization side of a kind of robot palletizer control systemMethod, comprises the following steps:
Piling buttress type and motion path are planned by step 1. man-machine interactive system according to the user instruction received, and rawBecome corresponding motion track information；
Step 2. man-machine interactive system carries out simulation run according to the motion track information generated, it is judged that the motion rail of operationMark is the most errorless, is, described motion track information is sent to kinetic control system, otherwise returns previous step；
Step 3. kinetic control system receives described motion track information, controls servo according to described motion track information and drivesDynamic system carries out piling work, and when piling work is carried out, servo drive system feeds back piling to man-machine interactive system in real timeThe work in every parameter of work.
On the basis of technique scheme, the present invention can also do following improvement.
Further, the work in every parameter in described step 3 includes: when piling work is carried out, be handled upside down residing for articlePosition and movement velocity.
Above-mentioned further scheme is used to provide the benefit that: to be more clearly understood that the situation that piling work is carried out.
Further, also include that man-machine interactive system described in step 4. receives the work in every parameter of piling work, according to codeWhat the work in every Parameter analysis piling of buttress work worked carries out situation, according to the situation of carrying out, piling work is handled upside down articleAgain motion path is planned by described man-machine interactive system.
Above-mentioned further scheme is used to provide the benefit that: according to real-time condition, piling work to be corrected, it is ensured that codeBeing smoothed out of buttress work.
The present invention also provides for realizing a kind of robot palletizer control system of above-mentioned steps, including: man-machine interactive system, fortuneAutocontrol system and servosystem；Described servosystem includes multiple servo drive system, and each servo drive system is respectivelyConnect and have a motor；
Described man-machine interactive system is used for receiving user instruction and plans piling buttress type and motion path generate phaseThe motion track information answered, and carry out simulation run according to the motion track information generated, when the movement locus run is errorless,Described motion track information is sent to kinetic control system；
Described kinetic control system is used for receiving described motion track information, and controls institute according to described motion track informationState servosystem and carry out piling work；
Described servo drive system is used for controlling described motor and carries out piling work, and in real time to described man-machine interactive systemThe work in every parameter of feedback piling work.
Further, described work in every parameter includes: when piling work is carried out, be handled upside down article location and fortuneDynamic speed.
Further, described man-machine interactive system is additionally operable to receive the work in every parameter of described piling work, according to pilingWhat the work in every Parameter analysis piling of work worked carries out situation, according to the situation of carrying out, piling work is handled upside down article and leads toCross described man-machine interactive system again motion path to be planned.
Further, described motor includes: servomotor.
Further, ICP/IP protocol communication is used between described man-machine interactive system and kinetic control system.
Further, described kinetic control system is connected by EtherCAT bus with drive system.
The invention has the beneficial effects as follows: use human-computer interaction interface to receive the instruction of user, and generate phase after processingThe movement locus answered, substitutes traditional code-type by easy graphic interface and programs, and is easy to use simple, reduces codeThe use difficulty of buttress robot, allows users to carry out fast and effectively piling work, and movement locus carries out emulation fortuneOK, user confirm errorless after just proceed by work, it is ensured that the safety and reliability of work.
Accompanying drawing explanation
Fig. 1 is the implementation method flow chart of the present invention a kind of robot palletizer control system；
Fig. 2 is the structural representation of the present invention a kind of robot palletizer control system.
Detailed description of the invention
Being described principle and the feature of the present invention below in conjunction with accompanying drawing, example is served only for explaining the present invention, andNon-for limiting the scope of the present invention.
As it is shown in figure 1, the implementation method of a kind of robot palletizer control system, comprise the following steps:
Piling buttress type and motion path are planned by step 1. man-machine interactive system according to the user instruction received, and rawBecome corresponding motion track information；
Step 2. man-machine interactive system carries out simulation run according to the motion track information generated, it is judged that the motion rail of operationMark is the most errorless, is, described motion track information is sent to kinetic control system, otherwise returns previous step；
Step 3. kinetic control system receives described motion track information, controls servo according to described motion track information and drivesDynamic system carries out piling work, and when piling work is carried out, servo drive system feeds back piling to man-machine interactive system in real timeThe work in every parameter of work.
Work in every parameter in described step 3 includes: piling work carry out time, be handled upside down article location andMovement velocity.
Also include that man-machine interactive system described in step 4. receives the work in every parameter of piling work, according to piling workWhat work in every Parameter analysis piling worked carries out situation, according to the situation of carrying out, piling work is handled upside down article by describedMotion path is planned by man-machine interactive system again.
The design of the piling buttress type in described step 1 includes: odd-level stamps type design, even level stamps type design, veryDouble-layer is arranged in a crossed manner, dividing plate is arranged and LOGO is towards setting.
Trajectory path planning in described step 1 includes: the motion of linear motion, point-to-point, circular motion and SPLMotion.
As in figure 2 it is shown, the present invention also provides for realizing a kind of robot palletizer control system of above-mentioned steps, including: man-machineInteractive system, kinetic control system and servosystem；Described servosystem includes multiple servo drive system, and each servo is drivenDynamic system is connected to a motor；
Described man-machine interactive system is used for receiving user instruction and plans piling buttress type and motion path generate phaseThe motion track information answered, and carry out simulation run according to the motion track information generated, when the movement locus run is errorless,Described motion track information is sent to kinetic control system；
Described kinetic control system is used for receiving described motion track information, and controls institute according to described motion track informationState servosystem and carry out piling work；
Described servo drive system is used for controlling described motor and carries out piling work, and in real time to described man-machine interactive systemThe work in every parameter of feedback piling work.
Described servo drive system, also known as servo system, is used to accurately follow or reappear the feedback control of certain processSystem.Servosystem enables the output controlled volumes such as the position of object, orientation, state to follow appointing of input target (or set-point)The automatic control system of meaning change.
Described work in every parameter includes: when piling work is carried out, be handled upside down article location and movement velocity.
Described man-machine interactive system is additionally operable to receive the work in every parameter of described piling work, each according to piling workWhat item operation parameters analysis piling worked carries out situation, according to the situation of carrying out, piling work is handled upside down article by described peopleMotion path is planned by machine interactive system again.
Described motor includes: servomotor；Described servomotor can make control speed, and positional precision is very accurate, permissibleVoltage signal is converted into torque and rotating speed to drive control object..
ICP/IP protocol communication is used between described man-machine interactive system and kinetic control system.
Described kinetic control system is connected by EtherCAT bus with drive system；(Ethernet controls certainly EtherCATDynamicization technology) it is the field bus system of an open architecture based on Ethernet, meanwhile, it also is compliant with even reducingThe use cost of fieldbus.The feature of EtherCAT also includes that high precision apparatus synchronizes, optional cable redundancy, and functional peaceFull agreement (SIL3).
The present invention uses distributed control method, it is ensured that each local system can independent process information；Man-machine interaction systemSystem carries out planning control, by ICP/IP protocol, relevant information is sent to kinetic control system；Kinetic control system is transportedDynamic control, servosystem is controlled by kinetic control system by EtherCAT bus, uses high-speed field bus, it is ensured thatControl system carries out real-time Control & data acquisition to servosystem.
Embodiment: man-machine interactive system, by planning the instruction stamping type design and motion, generates corresponding motionTrace information, the track according to generating carries out off-line simulation simulation run, it is ensured that the correct and security of system of setting, true userRecognize errorless after, carry out piling work, and real-time data collection, according to practical situation correction rate and positional information, it is ensured that workCarry out smoothly.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all spirit in the present invention andWithin principle, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.